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Support both parameter file configurations for composable nodes (#259)
* Support both param file configurations in to_parameters_list.py Signed-off-by: Rebecca Butler <rebecca@openrobotics.org> * Support another file config and add tests Signed-off-by: Rebecca Butler <rebecca@openrobotics.org> * Update to work for multiple entries in yaml Signed-off-by: Rebecca Butler <rebecca@openrobotics.org> * Fix deleted line Signed-off-by: Rebecca Butler <rebecca@openrobotics.org> * Remove duplicated line Signed-off-by: Rebecca Butler <rebecca@openrobotics.org> * Address reviewer comments Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Emit warning iff no node name and ros__parameters foramt is used Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Refactor after review - Rename private function for dealing with ros__parameters entries - Keep recursive parameters internal to function - Skip evaluating parameters if dictionary is empty - Use isinstance - Strip trailing and leading '/' from node namespace Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Remove unnecessary line Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Reset keys list in case of dictionary value We actually do this for the case of multiple entries like this: /ns_1: /node_1: ros__parameters: param_1: 1 param_2: 2 /**: ros__parameters: param_2: 22 param_3: 33 Signed-off-by: Jacob Perron <jacob@openrobotics.org> * Use separate test file for test_load_composable_nodes Rather than reusing the test file that is used in test_node. Signed-off-by: Jacob Perron <jacob@openrobotics.org> Co-authored-by: Jacob Perron <jacob@openrobotics.org>
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14 changes: 14 additions & 0 deletions
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test_launch_ros/test/test_launch_ros/actions/example_parameters_multiple_entries.yaml
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/ns_1: | ||
/node_1: | ||
ros__parameters: | ||
param_1: 1 | ||
param_2: 2 | ||
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/**: | ||
ros__parameters: | ||
param_2: 22 | ||
param_3: 33 | ||
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ns_2/node_2: | ||
ros__parameters: | ||
param_3: 3 |
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test_launch_ros/test/test_launch_ros/actions/example_parameters_namespace.yaml
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ns/test_node_name: | ||
ros__parameters: | ||
param: 1 |
10 changes: 10 additions & 0 deletions
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test_launch_ros/test/test_launch_ros/actions/example_parameters_nested_namespace.yaml
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/my_ns: | ||
my_node: | ||
ros__parameters: | ||
some_int: 42 | ||
a_string: "Hello world" | ||
no_string: "" | ||
some_list: | ||
sub_list: | ||
some_integers: [1, 2, 3, 4] | ||
some_doubles : [3.14, 2.718] |
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test_launch_ros/test/test_launch_ros/actions/example_parameters_no_name.yaml
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some_int: 42 | ||
a_string: "Hello world" |
3 changes: 3 additions & 0 deletions
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test_launch_ros/test/test_launch_ros/actions/example_parameters_no_namespace.yaml
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/test_node_name: | ||
ros__parameters: | ||
param: 2 |
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test_launch_ros/test/test_launch_ros/actions/example_parameters_wildcard.yaml
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/**: | ||
ros__parameters: | ||
param: "wildcard" |
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